EP4293164A1 - Procédé de commande d'engin de chantier, programme de commande d'engin de chantier, système de commande d'engin de chantier et engin de chantier - Google Patents

Procédé de commande d'engin de chantier, programme de commande d'engin de chantier, système de commande d'engin de chantier et engin de chantier Download PDF

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Publication number
EP4293164A1
EP4293164A1 EP23176591.8A EP23176591A EP4293164A1 EP 4293164 A1 EP4293164 A1 EP 4293164A1 EP 23176591 A EP23176591 A EP 23176591A EP 4293164 A1 EP4293164 A1 EP 4293164A1
Authority
EP
European Patent Office
Prior art keywords
work machine
screen
camera
display
switching
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23176591.8A
Other languages
German (de)
English (en)
Inventor
Kazuki TAMURA
Daisuke Kawaguchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yanmar Holdings Co Ltd
Original Assignee
Yanmar Holdings Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yanmar Holdings Co Ltd filed Critical Yanmar Holdings Co Ltd
Publication of EP4293164A1 publication Critical patent/EP4293164A1/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/267—Diagnosing or detecting failure of vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/412—Excavators

Definitions

  • a work machine construction machine including a lower traveling body, an upper swivel body, a plurality of imaging devices installed on the upper swivel body, and a display device installed in a cab is known (see, for example, Patent Document 1).
  • the display device simultaneously displays driving information on a driving state and an image including at least one or more of captured images captured by the plurality of imaging devices. At least one of a display position of the driving information and the captured images that are displayed can be switched in response to an operation of a single switching switch.
  • the work machine control method is used for a work machine in which an enabled state, where control of the work machine corresponding to an operation of an operation device is enabled, and a disabled state, where the control of the work machine corresponding to the operation of the operation device is disabled, switch according to an operation state of a disabling operation unit.
  • the control method includes displaying, on a display device, a display screen including information related to the work machine, and executing at least one of a first switching process and a second switching process.
  • the work machine control system is used for a work machine in which an enabled state, where control of the work machine corresponding to an operation of an operation device is enabled, and a disabled state, where the control of the work machine corresponding to the operation of the operation device is disabled, switch according to an operation state of a disabling operation unit.
  • the work machine control system includes a display processor and a switching processor.
  • the display processor displays a display screen including information related to the work machine, on a display device.
  • the switching processor executes at least one of a first switching process and a second switching process.
  • the first switching process is a process in which the display screen to be displayed on the display device is switched, in accordance with switching from the enabled state to the disabled state, from a camera screen that includes a captured image of a monitoring area around the work machine to a basic screen that does not include the captured image.
  • the second switching process is a process in which the display screen to be displayed on the display device is switched, in accordance with switching from the disabled state to the enabled state, from the basic screen to the camera screen.
  • the "work machine” referred to in the present disclosure refers to a machine for various types of work, and is, as an example, a work vehicle, such as a backhoe (including a hydraulic excavator and a mini excavator), a wheel loader and a carrier.
  • the work machine 3 includes the work part 33 configured to be capable of performing one or more types of work including at least lifting work.
  • the work machine 3 is not limited to a "vehicle” but may be, for example, a work vessel or a flying work body, such as a drone or a multicopter.
  • the work machine 3 is not limited to a construction machine (construction equipment), but may also be an agricultural machine (agricultural equipment), such as a rice transplanter, a tractor, or a combine harvester.
  • agricultural equipment such as a rice transplanter, a tractor, or a combine harvester.
  • a case where the work machine 3 is a backhoe with a lifting function (with a crane function) and can perform excavation work, ground leveling work, trenching work, or loading work as well as lifting work is taken as an example.
  • each of the directions used in the present embodiment is a direction defined based on the machine body 30 of the work machine 3, and a direction in which the machine body 30 moves at the time of the work machine 3 moving forward is referred to as "front”, and a direction in which the machine body 30 moves at the time of the work machine 3 moving rearward is referred to as "rear”.
  • a direction in which a front end portion of the machine body 30 moves at the time of the work machine 3 swinging to right is referred to as "right”
  • a direction in which the front end portion of the machine body 30 moves at the time of the work machine 3 swinging to left is referred to as "left”.
  • these directions are not intended to limit a use direction (direction in use) of the work machine 3.
  • the work machine 3 is a passenger-use backhoe as described above, and therefore, the work part 33 is driven in accordance with an operation by the user (operator) seated in the driving part 321 so as to perform work such as excavation work.
  • the driving part 321 in which the user is seated is provided at the swivel part 32.
  • the display device 2 and the operation device 35 are installed on the driving part 321 of the machine body 30; the user can operate the operation device 35 while viewing various types of information that is displayed on the display device 2 and that is related to the work machine 3.
  • a display screen of the display device 2 displays information on an operating state of the work machine 3, such as a cooling water temperature and a hydraulic oil temperature, so that the user can check, at the display device 2, the information that is necessary for operating the operation device 35 and that is related to the operating state of the work machine 3.
  • the traveling part 31 has a traveling function, and is so configured as to be capable of traveling (including swiveling) on the ground.
  • the traveling part 31 includes, for example, a pair of right and left crawlers 311 and a blade 312.
  • the traveling part 31 further includes the hydraulic motor 43 (hydraulic actuator) for traveling to drive the crawlers 311.
  • the work part 33 is so configured as to be capable of performing work, including lifting work.
  • the work part 33 is supported by the boom bracket 322 of the swivel part 32, and performs work.
  • the work part 33 includes a bucket 331, a boom 332, and an arm 333.
  • the work part 33 further includes the hydraulic actuators (including the hydraulic cylinder 44 and a hydraulic motor) for driving each portion.
  • the bucket 331 is a type of attachment (work instrument) that is attached to the machine body 30 of the work machine 3, and that is composed of an optional instrument selected from among a plurality of types of attachments according to content of the work.
  • the bucket 331 as an example, is removably attached to the machine body 30 and is replaced according to the content of the work.
  • attachments for the work machine 3 include various instruments, such as a breaker, an auger, a crusher, a fork, a fork claw, a steel cutter, an asphalt cutter, a mower, and a ripper, a mulcher, a tilt rotator, and a tamper.
  • the work part 33 performs work by driving the bucket 331 with power from the driving device.
  • the boom 332 is supported by the boom bracket 322 of the swivel part 32 in a rotatable manner. Specifically, the boom 332 is supported at the boom bracket 322 in a rotatable manner about a rotation shaft along a horizontal direction. The boom 332 is so shaped as to extend upward from a base end portion supported by the boom bracket 322.
  • the arm 333 is coupled to a tip end of the boom 332.
  • the arm 333 is supported to the boom 332 in a rotatable manner about a rotation shaft along the horizontal direction.
  • the bucket 331 is attached to a tip end of the arm 333.
  • the work part 33 moves under power from the engine as the power source. Specifically, the engine drives the hydraulic pump 41 thereby to supply hydraulic oil from the hydraulic pump 41 to the hydraulic actuator (hydraulic cylinder 44 or the like) of the work part 33, thereby to move each of the portions (bucket 331, boom 332, and arm 333) of the work part 33.
  • the engine drives the hydraulic pump 41 thereby to supply hydraulic oil from the hydraulic pump 41 to the hydraulic actuator (hydraulic cylinder 44 or the like) of the work part 33, thereby to move each of the portions (bucket 331, boom 332, and arm 333) of the work part 33.
  • the work part 33 in particular, has an articulated configuration in which the boom 332 and the arm 333 are individually rotatable. That is, the boom 332 and the arm 333 rotate about the respective rotation shafts extending along the horizontal direction so that the articulated work part 33 including the boom 332 and the arm 333 is capable of performing extending and folding movements as a whole.
  • hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling part 31, a hydraulic motor of the swivel part 32, and the like, thereby to move the swivel part 32 and the traveling part 31.
  • the engine functions as a power source that supplies power to each part as described above.
  • the engine as well as the hydraulic pump 41 and the like are installed in the swivel part 32.
  • the engine is a diesel engine.
  • the engine is driven by fuel (herein, light oil) supplied from a fuel tank.
  • the machine body 30 is provided with various types of sensors (including cameras) that detect a detection target Ob1 (see FIG. 3 ) in a monitoring area A1 (see FIG. 3 ) around the work machine 3, such as a camera for capturing an image around the machine body 30.
  • a plurality of cameras including a left camera 341, a right camera 342, and a rear camera 343, are installed on the swivel part 32 of the machine body 30.
  • the left camera 341, the right camera 342, and the rear camera 343 are connected to a control system 1 and output, to the control system 1, images captured by each of the cameras.
  • FIG 3 is a plan view of the work machine 3 viewed from above, schematically illustrating the monitoring area A1 set around the work machine 3, the detection target Ob1, and the machine body 30 of the work machine 3 (including the left camera 341, the right camera 342, and the rear camera 343).
  • the left camera 341, the right camera 342, and the rear camera 343 are placed to face left, right, and rear, respectively, based on the driving part 321 so as to capture images of the monitoring area A1 on left, right, and rear viewed from the operator seated in the driving part 321 of the swivel part 32.
  • the monitoring area A1 includes a plurality of (herein, three) small areas A11, A12, and A13, and the left camera 341 captures an image of the small area A11 (left area) which is on the left as seen from the operator seated in the driving part 321.
  • the right camera 342 captures an image of the small area A12 (right area) which is on the right as seen from the operator seated in the driving part 321
  • the rear camera 343 captures an image of the small area A13 (rear area) which is at the rear as seen from the operator seated in the driving part 321.
  • FIG. 2 a hydraulic circuit and an electric circuit (electric connections) of the work machine 3 according to the present embodiment are schematically illustrated.
  • solid lines represent highpressure oil paths (for hydraulic oil)
  • dotted lines represent low-pressure oil paths (for pilot oil)
  • dashed-dotted line arrows represent electric signal paths.
  • a thick (solid) line between a cutoff lever 350 and a cutoff switch 353 represents a physical connection between the cutoff lever 350 and the cutoff switch 353.
  • the work machine 3 includes a pilot pump 42, a remote control valve 45, a control valve 46, and a direction switching valve (control valve) 47, in addition to the hydraulic pump 41, the hydraulic motor 43 (omitted in FIG. 2 ), and the hydraulic cylinder 44.
  • the work machine 3 further includes the cutoff lever 350, a cutoff relay 352, the cutoff switch 353, and a sound output unit 36.
  • the hydraulic oil is supplied from the hydraulic pump 41 driven by the engine to the hydraulic motor 43 of the traveling part 31, the hydraulic motor of the swivel part 32, the hydraulic cylinder 44 of the work part 33, and the like. In this way, the hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are driven.
  • Each of the hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44, includes the pilot-type direction switching valve 47 capable of changing a direction and a flow rate of the hydraulic oil supplied from the hydraulic pump 41.
  • the direction switching valve 47 is driven when pilot oil serving as an input instruction is supplied from the pilot pump 42.
  • the remote control valve 45 is provided, for example, in a supply path of the pilot oil to the direction switching valve 47 corresponding to the hydraulic cylinder 44 of the work part 33.
  • the remote control valve 45 outputs a work operation instruction of the work part 33 in response to an operation of the operation device 35 (operation lever).
  • the work operation instruction instructs an expanding movement, a contracting movement and the like of the work part 33.
  • An electromagnetic control valve 46 (solenoid valve) is inserted between the remote control valve 45 and the pilot pump 42.
  • the control valve 46 is connected via the cutoff relay 352 and the cutoff switch 353 to the power source 351 and operates according to current supplied from the power source 351.
  • the swivel operation instruction instructs a swivel movement (for example, left swivel or right swivel) of the swivel part 32.
  • the electromagnetic control valve 46 (solenoid valve) is also inserted between these remote control valves and the pilot pump 42.
  • the control valve 46 is connected via the cutoff relay 352 and the cutoff switch 353 to the power source 351 and operates according to current supplied from the power source 351.
  • the control valve 46 opens the flow path of the pilot oil from the pilot pump 42 to the remote control valve 45 while the control valve 46 is energized, that is, in a state where current is supplied, and shuts off the flow path of the pilot oil while the control valve 46 is de-energized, that is, in a state where supply current is cut off. Therefore, when the supply current to the control valve 46 is cut off, the hydraulic actuator corresponding to the remote control valve 45 cannot be driven, and thus output of the hydraulic actuator is forcibly stopped regardless of an operation of the operation device 35 (operation lever).
  • the cutoff relay 352 is connected to the control system 1 and is switched between on and off in response to a control signal (electric signal) supplied from the control system 1.
  • the cutoff switch 353 is switched between on and off in response to an operation of the cutoff lever 350. Therefore, when both the cutoff relay 352 and the cutoff switch 353 are on, the control valve 46 becomes energized and the flow path of the pilot oil from the pilot pump 42 to the remote control valve 45 is opened so that the hydraulic actuator is driven in response to an operation of the operation device 35.
  • the control valve 46 is de-energized and the flow path of the pilot oil is shut off so that the hydraulic actuator cannot be driven.
  • the cutoff switch 353 is interlocked with the cutoff lever 350, which is an example of a "disabling operation unit".
  • the cutoff lever 350 is placed at the driving part 321 of the machine body 30, and receives an operation input by the user (operator).
  • the cutoff lever 350 can be operated along the up-down direction D1.
  • the cutoff lever 350 is at a "raised position” which is an upper end position in a movable range
  • the cutoff switch 353 is "off”; when the cutoff lever 350 is at a "lowered position” which is a lower end position in the movable range, the cutoff switch 353 is "on”.
  • the cutoff switch 353 is in an off state, the hydraulic circuit is forcibly shut off at the control valve 46, which is a cutoff valve.
  • the cutoff lever 350 enters an "enabled state” where the control of the work machine 3 corresponding to an operation of the operation device 35 is enabled, and thus the work machine 3 moves in response to the operation of the operation device 35.
  • the cutoff lever 350 is at the "raised position
  • the cutoff lever 350 enters a "disabled state” where the control of the work machine 3 corresponding to an operation of the operation device 35 is disabled, and thus the work machine 3 dose not move in response to the operation of the operation device 35.
  • the enabled state where the control of the work machine corresponding to the operation of the operation device 35 is enabled and the disabled state where the control of the work machine corresponding to the operation of the operation device 35 is disabled switch according to the operation state of the disabling operation unit (cutoff lever 350). Therefore, for example, in a situation where a person is present around the work machine 3, such as when an operator gets on and off the work machine 3, a movement of the work machine 3 can be forcibly stopped (prohibited) by operating the disabling operation unit (cutoff lever 350) to the "disabled state".
  • the control system 1 is mainly configured by a computer system having one or more processors such as a Central Processing Unit (CPU) and one or more memories such as a Read Only Memory (ROM) and a Random Access Memory (RAM), executing various processes (information process).
  • the control system 1 is an integrated control unit that controls the overall work machine 3, and includes, for example, an electronic control unit (ECU).
  • ECU electronice control unit
  • the control system 1 may be provided separately from the integrated controller.
  • the control system 1 will be described in detail in the column "[2] Configuration of Control System".
  • the controller 21 controls the display device 2 in accordance with data from the control system 1. Specifically, the controller 21 outputs the electric signal that accords to the user's operation received by the operation unit 22, and displays, on the display unit 23, the display screen Dp1 generated by the control system 1.
  • the operation unit 22 is a user interface for receiving an operation input by the user (operator) to the display screen Dp1 displayed on the display unit 23.
  • the operation unit 22 outputs the electric signal that accords to an operation of a user U1 (see FIG. 4 ), for example, thereby to receive various operations by the user U1.
  • the operation unit 22 includes a plurality of (herein, six) mechanical push button switches 221 to 226, as illustrated in FIG. 4 .
  • the plurality of push button switches 221 to 226 are placed in the vicinity of the display area (a lower portion in the example in FIG. 4 ).
  • the display device 2 presents various information on the display screen Dp1 to the user U1 (operator) who operates the work machine 3.
  • the user U1 who operates the work machine 3 can visually obtain various information related to the work machine 3 by viewing the display screen Dp1 displayed on the display device 2.
  • the display device 2 displays information on an operating state of the work machine 3, such as a remaining amount of fuel, a cooling water temperature and a hydraulic oil temperature, so that the user U1 can check, at the display device 2, the information that is necessary for operating the work machine 3 and that is on the operating state of the work machine 3.
  • the display device 2 can also display on the display screen Dp1 images of the areas around the work machine 3 (captured images of the monitoring area A1) captured by the left camera 341, the right camera 342, and the rear camera 343.
  • the user U1 (operator) can check, on the display screen Dp1 displayed on the display device 2, the situations at the work machine 3's sides and rear which are likely to be blind spots from the driving part 321, for example.
  • These information on the operating state of the work machine 3 and the captured image of the monitoring area A1 are both a type of information related to the work machine 3.
  • the work machine 3 includes the sound output unit 36 (see FIG. 2 ) that outputs sound (including voice) to the user U1 (operator).
  • the sound output unit 36 includes a buzzer or a speaker and outputs sound upon receiving an electric signal.
  • the sound output unit 36 is connected to the control system 1, and outputs the sound, such as a beep or a voice, according to a sound control signal from the control system 1.
  • the sound output unit 36, as well as the display device 2 is provided at the driving part 321 of the machine body 30.
  • the sound output unit 36 may be provided integrally with the display device 2.
  • the display screen Dp1 includes a moving image or the like, the display screen Dp1 does not include a constant image but includes an image that changes from moment to moment.
  • the control system 1 includes a display processor 11, a restraint processor 12, a switching processor 13, a data acquisition unit 14, a detector 15, and a selection processor 16, and a monitoring processor 17.
  • the control system 1 is mainly constituted by a computer system having one or more processors, and the plurality of functional units (display processor 11 and the like) are realized when the one or more processors execute a work machine control program.
  • the plurality of functional units included in the control system 1 may be distributed to a plurality of housings or may be included in a single housing.
  • the data acquisition unit 14 executes a data acquisition process of acquiring the captured image of the monitoring area A1 around the work machine 3.
  • the data acquisition unit 14 regularly or irregularly acquires outputs of the left camera 341, the right camera 342 and the rear camera 343 from the left camera 341, the right camera 342 and the rear camera 343.
  • the data acquisition unit 14 acquires image data (captured images) of the monitoring area A1 (respective small areas A11, A12, and A13) around the work machine 3.
  • the detector 15 detects the detection target Ob1 in the monitoring area A1 based on outputs (image data) of the left camera 341, the right camera 342, and the rear camera 343. Specifically, the detector 15 extracts a feature value in an image by performing the image process on the image data acquired by the data acquisition unit 14, and determines whether or not the detection target Ob1 ("person" in the present embodiment) is reflected in the image based on the feature value.
  • the detector 15 determines the detection target Ob1 is reflected in the image captured by which of the left camera 341, the right camera 342 and the rear camera 343.
  • the detector 15 distinguishes that the detection target Ob1 is present in which of the small area A11 captured by the left camera 341, the small area A12 captured by the right camera 342, and the small area A13 captured by the rear camera 343, thereby to detect the detection target Ob1.
  • the restraint processor 12 executes a restraint process of restraining a movement of the work machine 3 based on the detection result of the detector 15.
  • the detection result of the detector 15 is a result indicating a presence of the detection target Ob1 (herein, a person) in the monitoring area A1
  • the restraint processor 12 executes the restraint process.
  • the "restraint process" referred to in the present disclosure refers to a process that acts to restrain in some way a movement of the work machine 3.
  • the restraint process includes a process of indirectly restraining a movement of the work machine 3 by warning the user U1 (operator) who operates the work machine 3 by means of sound or light (including display).
  • the restraint process includes a process of directly restraining a movement of the work machine 3 by controlling the traveling part 31, the swivel part 32, and the work part 33 of the work machine 3.
  • the restraint processor 12 includes a sound output processor 121 and a restriction processor 122.
  • the sound output processor 121 controls the sound output unit 36 to output a notification sound when the detection target Ob1 is present in the monitoring area A1.
  • the restraint process includes a sound output process of outputting a notification sound.
  • the notification sound may be a simple beep or a voice, such as a message "Please be careful”.
  • the notification sound may be changed depending on the detection result of the detector 15 (such as a distance from the machine body 30 to the detection target Ob1). Accordingly, since a movement of the work machine 3 may be indirectly restrained by warning the user U1 (operator) who operates the work machine 3 with a notification sound, a high degree of freedom in operating of the work machine 3 is realized. That is, when the user U1 operates the work machine 3 paying attention to the detection target Ob1, a movement of the work machine 3 can be continued while contact with the detection target Ob1 is avoided.
  • the restriction process includes a process of prohibiting (disabling) the travel movement of the traveling part 31, a process of prohibiting (disabling) the swivel movement of the swivel part 32, and a process of prohibiting (disabling) the movement of the work part 33. Accordingly, a movement of the work machine 3 may be forcibly restricted regardless of an operation by the user U1 (operator). That is, contact between the machine body 30 and the detection target Ob1 caused by the movement of the work machine 3 can be avoided.
  • the display processor 11 executes a display process of displaying, on the display device 2, the display screen Dp1 including information related to the work machine 3. Specifically, the display processor 11 generates the display screen Dp1 based on data and the like acquired by the data acquisition unit 14, and controls the display device 2 so as to display the display screen Dp1 on the display unit 23 of the display device 2. Furthermore, the display processor 11 operates in response to an operation received by the operation unit 22 of the display device 2.
  • the switching processor 13 executes a switching process of switching the display screen Dp1 to be displayed on the display device 2.
  • the display screen Dp1 displayed on the display device 2 by the display processor 11 is not fixed, but can be switched among a plurality of screens by the switching processor 13.
  • the switching processor 13 switches the display screen Dp1 displayed on the display device 2 among a plurality of screens.
  • the plurality of screens include a basic screen Dp11 (see FIG. 5 ), which does not include the captured images Im11, Im12, and Im13, and a camera screen Dp12 (see FIG. 6 ), which includes the captured images Im11, Im12, and Im13.
  • the switching processor 13 alternatively selects the screen to be displayed on the display device 2 as the display screen Dp1 from among a plurality of screens including the basic screen Dp11 and the camera screen Dp12.
  • the control system 1 executes the following various types of processes related to the control method.
  • Examples of the start operation include an operation of starting the engine of the work machine 3.
  • Examples of the end operation include an operation of stopping the engine of the work machine 3.
  • a configuration of the display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to the present embodiment will be described.
  • a dashed-dotted line, a leading line, and a reference sign representing regions are each merely for an illustrative purpose and may not be actually displayed at the display device 2.
  • the display screen Dp1 illustrated in FIG. 5 is the basic screen Dp11, which does not include the captured images Im11, Im12, and Im13 of the monitoring area A1 around the work machine 3, as described above, and is a screen first displayed by the control method.
  • This basic screen Dp 11 is a home screen that serves as a starting point for the operation of the display device 2 on the work machine 3, and is a basic display screen Dp1 that is first displayed on the display device 2 while the work machine 3 is operating.
  • the display screen Dp1 can be switched (transitioned) from the basic screen Dp11 to various display screens Dp1 including the camera screen Dp12, a menu screen Dp13 (see FIG. 14 ), a crane screen, a mode screen, and a PTO screen.
  • the basic screen Dp11 serving as the display screen Dp1 includes a first region R1 and a second region R2, as illustrated in FIG. 5 .
  • the basic screen Dp11 further includes a third region R3, a fourth region R4, a fifth region R5, a sixth region R6, a seventh region R7, an eighth region R8, a ninth region R9 and a tenth region R10.
  • the basic screen Dp11 is vertically (the up-down direction) divided into four regions. Then, the upper three regions are further divided into three regions in the transverse direction (left-right direction). As a result, the basic screen Dp11 is divided into ten regions in total.
  • the second step regions from the top include, from left to right, the first region R1, the second region R2, and the third region R3. The lowest step region is the fourth region R4.
  • the third step regions from the top include, from left to right, the fifth region R5, the sixth region R6, and the seventh region R7, and the uppermost step regions include, from left to right, the eighth region R8, the ninth region R9, and the tenth region R10.
  • a vertical size of the second step regions (the first region R1, the second region R2, and third region R3) from the top is the largest.
  • a transverse size of middle regions (the second region R2, the sixth region R6, and the ninth region R9) is the largest.
  • the placement and size of the respective regions are merely examples and can be properly changed.
  • the respective regions are not essential to be clearly divided by boundary lines.
  • the second region R2 and the third region R3 are clearly divided by a boundary line, while there is no boundary line between the first region R1 and the second region R2.
  • the first region R1 and the second region R2 may be clearly divided by a boundary line.
  • the first region R1 is a rectangular region extending in the vertical direction.
  • remaining amount information G1 regarding the remaining amount of fuel (e.g., diesel oil) in the engine is displayed.
  • the display processor 11 Based on an output (sensor signal) or the like of a remaining amount sensor, the display processor 11 generates the remaining amount information G1 in the display screen Dp1.
  • the second region R2 is a rectangular region extending in the transverse direction.
  • cooling water temperature information G3 and hydraulic oil temperature information G2 are displayed.
  • the cooling water temperature information G3 and the hydraulic oil temperature information G2 are both information related to the work machine 3, especially information related to the operating state of the work machine 3.
  • the display processor 11 generates the cooling water temperature information G3 in the basic screen Dp11 based on the output (sensor signal) of the cooling water temperature sensor acquired by the data acquisition unit 14.
  • the display processor 11 generates the hydraulic oil temperature information G2 in the basic screen Dp11 based on the output (sensor signal) of the hydraulic oil temperature sensor acquired by the data acquisition unit 14.
  • the information related to the work machine 3 included in the display screen Dp1 includes at least one of a remaining amount of fuel, a cooling water temperature, and a hydraulic oil temperature.
  • the display screen Dp1 of the display device 2 displays information such as the remaining amount of fuel, the cooling water temperature and the hydraulic oil temperature, so that the user (operator) can check, at the display device 2, the information that is necessary for operating the operation device 35 and that is on the operating state of the work machine 3.
  • the third region R3 is a rectangular region extending in the vertical direction.
  • graphic images (icons) Im1 corresponding to operating states of respective components of the work machine 3 are displayed.
  • a plurality of the graphic images Im1 may be displayed, and a design (pattern) of each of the graphic images Im1 indicates which state of a battery, a seat belt, a cooling water temperature, a hydraulic oil temperature, and the like is represented, for example.
  • each of the graphic images Im1 indicates an operating state by, for example, a display mode, such as a display color or a size.
  • the fourth region R4 is a band-shaped region that extends over an entire width of the display screen Dp1.
  • the fourth region R4 displays items for operation on the display screen Dp1.
  • six items including "Menu”, “Crane”, “Mode”, “Camera”, “PTO”, and “Switch” are placed in this order from left in the fourth region R4, as an example.
  • the six push button switches 221 to 226 of the operation unit 22 positioned right below the six items are associated with the six items, respectively.
  • the item “Menu” is associated with the push button switch 221
  • the item “Crane” is associated with the push button switch 222. Therefore, when the push button switch 224 associated with the item "Camera” is operated by the user U1 (see FIG. 4 ), the item “Camera” is operated (selected).
  • any of the items is highlighted in the fourth region R4 so as to correspond to an operation of an operation dial (or a cursor key) of the operation unit 22.
  • the item “Menu” is highlighted in the example of FIG. 5 , and the highlighted item is switched by operating the operation dial (or the cursor key).
  • the user U1 can select a desired item by operating a determination button in a state where the desired item is highlighted. Therefore, for example, when the determination button is operated in a state where the item "Camera" is highlighted, the item "Camera” is operated (selected).
  • the operation unit 22 includes a touch panel, the user U1 can select a desired item by touching the desired item on the display screen Dp1.
  • a warning display graphic image is displayed to indicate that an abnormal value is detected by the various sensors (including the cooling water temperature sensor and the hydraulic oil temperature sensor).
  • the sixth region R6 information on the work part 33 that is operating in the work machine 3 is displayed. Specifically, when the movement mode of the work machine 3 is in the crane mode, the work machine information G4, such as a present load during lifting work and a rated load, is displayed in the sixth region R6.
  • the seventh region R7 for example, information on the operating state of the work machine 3, such as an engine speed, is displayed.
  • a current time is displayed.
  • the ninth region R9 for example, information indicating an item to which the currently displayed display screen Dp1 belongs is displayed.
  • the tenth region R10 for example, information on an operating time (hour meter) of the work machine 3 is displayed.
  • a plurality of the camera screens Dp12 which include a first camera screen Dp121 (see FIG. 6 ) and a second camera screen Dp122 (see FIG. 7 ), are available as the camera screens Dp12 displayed on the display device 2.
  • the first camera screen Dp121 is a camera screen Dp12 that includes operating information (remaining amount information G1, etc.) on the operating state of the work machine 3 in addition to the captured images Im11, Im12, and Im13
  • the second camera screen Dp122 is a camera screen Dp12 that does not include the operating information (remaining amount information G1, etc.).
  • the first camera screen Dp121 illustrated in FIG. 6 is a screen in which only the display content of the second region R2 has been changed from the basic screen Dp11 illustrated in FIG. 5 . That is, the first camera screen Dp121 and the basic screen Dp11 are the same with respect to the display except for the second region R2.
  • the captured images Im11, Im12, and Im13 of the monitoring area A1 are displayed in the second region R2 which occupies the majority of the first camera screen Dp121.
  • the first camera screen Dp121 includes operating information on the operating state of the work machine 3, such as the remaining amount information G1 in the first region R1, the work machine information G4 in the sixth region R6, and the engine speed in the seventh region R7.
  • the captured image Im11 is an image of the small area A11, which is on the left of the driving part 321, captured by the left camera 341
  • the captured image Im12 is an image of the small area A12, which is on the right of the driving part 321, captured by the right camera 342.
  • the captured image Im13 is an image of the small area A13, which is at the rear of the driving part 321, captured by the rear camera 343.
  • the display processor 11 displays the captured images Im11, Im12, and Im13 acquired by the data acquisition unit 14 in real time.
  • the second camera screen Dp122 illustrated in FIG. 7 is an enlarged screen of the second region R2 in which the captured images Im11, Im12, and Im13 are displayed as compared to the first camera screen Dp121.
  • the second camera screen Dp122 includes only two regions, i.e., the second region R2 and the third region R3, with a majority of the screen is the second region R2 and only a right edge portion of the screen is the third region R3.
  • the first region R1 and the fourth to tenth regions R4 to R10 are not displayed, and the second region R2 is enlarged from a center area to peripheral areas where the first region R1 and other regions are displayed in the first camera screen Dp121.
  • the second camera screen Dp122 the captured images Im11, Im12, and Im13 are enlarged compared to the first camera screen Dp121, and thus the captured images Im11, Im12, and Im13 are displayed in a highly visible display mode.
  • the second camera screen Dp122 does not include operating information on the operating state of the work machine 3, such as the remaining amount information G1 in the first region R1, the work machine information G4 in the sixth region R6, and the engine speed in the seventh region R7.
  • the detection target Ob1 (herein, "person") is present in the small area A11 that is captured by the left camera 341 and that is on the left of the driving part 321. Therefore, among the captured images Im11, Im12, and Im13, the captured image Im11 is displayed in an emphasized manner by the detection object I1, and the detection object I2 indicating that the detection target Ob1 is present on the left of the driving part 321 is displayed below the captured image Im11.
  • These detection objects I1 and I2 are displayed on both the first camera screen Dp121 and the second camera screen Dp122.
  • the display mode of the detection objects I1 and I2 is preferably changed according to a position of the detection target Ob1 in the monitoring area A1.
  • the display mode of the detection objects I1 and 12 such as a display color, a size, or a display pattern (including blinking pattern and the like), is changed according to a position of the detection target Ob1 in the monitoring area A1.
  • the display color of the detection objects I1 and I2 changes from yellow to red.
  • the camera screen Dp12 not only displays the captured images Im11, Im12, and Im13 of the monitoring area A1, but also displays, as the detection objects I1 and 12, the detection result of the detection target Ob1 in the monitoring area A1. Therefore, the operator (user U1) can easily check the existence or nonexistence (presence or absence) of the detection target Ob1 in the monitoring area A1 by viewing the camera screen Dp12.
  • the camera screen Dp12 includes the captured images Im11, Im12, and Im13 in the monitoring area A1.
  • the operator user U1 can check the situations at the work machine 3's sides and rear which are likely to be blind spots from the driving part 321. Therefore, compared to the configuration in which only the detection objects I1 and I2 are displayed, when the detection target Ob1 is present in the monitoring area A1, it is easier to recognize in detail, on the camera screen Dp12, the situation of the detection target Ob1.
  • FIG. 9 schematically illustrates the switching process of the display screen Dp1 when the cutoff lever 350 is in the "disabled state” where the control of the work machine 3 corresponding to the operation of the operation device 35 is disabled by being at the "raised position”.
  • FIG. 10 schematically illustrates the switching process of the display screen Dp1 when the cutoff lever 350 is in the "enabled state” where the control of the work machine 3 corresponding to the operation of the operation device 35 is enabled by being at the "lowered position”.
  • the arrows F1 to F5 other than the arrow F6 indicate the switching of the display screen Dp1 when the push button switch 224 is operated in a case where the movement mode of the work machine 3 is not in the crane mode, that is, in another mode such as the excavation mode. Meanwhile, the arrows F11 to F13 indicate the switching of the display screen Dp1 when the cutoff lever 350 is operated, regardless of the movement mode of the work machine 3.
  • the switching processor 13 switches the display screen Dp1 displayed on the display device 2 among a plurality of screens, which include the basic screen Dp11, the first camera screen Dp121, and the second camera screen Dp122, in response to an operation by the user (operator) on the switching operation unit or the disabling operation unit.
  • the switching operation unit is the push button switch 224 corresponding to the "Camera" item in the fourth region R4 of the display screen Dp1
  • the disabling operation unit is the cutoff lever 350.
  • the monitoring processor 17 constantly monitors, as the operation state of the cutoff lever 350, whether the cutoff lever 350 is in the “disabled state” of being at the "raised position” or whether the cutoff lever 350 is in the “enabled state” of being at the “lowered position” based on on/off of the cutoff switch 353.
  • the movement mode of the work machine 3 is in another mode other than the crane mode, such as the excavation mode
  • the push button switch 224 when the push button switch 224 is pressed while the first camera screen Dp121 is being displayed, the display screen Dp1 displayed on the display device 2 switches from the first camera screen Dp121 to the second camera screen Dp122 (arrow F2).
  • the push button switch 224 when the push button switch 224 is pressed while the second camera screen Dp122 is being displayed, the display screen Dp1 displayed on the display device 2 switches from the second camera screen Dp122 to the basic screen Dp11 (arrow F3).
  • the display screen Dp1 displayed on the display device 2 switches from the first camera screen Dp121 to the basic screen Dp11 (arrow F6).
  • the movement mode of the work machine 3 is in the crane mode, only the first camera screen Dp121 is displayed as the camera screen Dp12, and a switching destination from the first camera screen Dp121 is the basic screen Dp11, but not the second camera screen Dp122.
  • the second camera screen Dp122 is not displayed, and each time the switching operation unit (push button switch 224) is operated, the display screen Dp1 alternately switches between the two screens of the basic screen Dp11 and the first camera screen Dp121.
  • the camera screen Dp12 displayed on the display device 2 as the cutoff lever 350 is operated to the "lowered position” is the first camera screen Dp121 out of the first camera screen Dp121 and the second camera screen Dp122.
  • the present disclosure is not limited to this example, the camera screen Dp12 displayed on the display device 2 as the cutoff lever 350 is operated to the "lowered position” may be the second camera screen Dp 122. Note that even if the cutoff lever 350 is operated from the "raised position" to the "lowered position" while the first camera screen Dp121 or the second camera screen Dp122 is being displayed originally, switching to the display screen Dp1 is not performed.
  • the switching process when the cutoff lever 350 is in the "enabled state” of being at the "lowered position” will be described.
  • the "enabled state” if the movement mode of the work machine 3 is in another mode other than the crane mode, such as the excavation mode, when the push button switch 224 is pressed while the first camera screen Dp121 is being displayed, as illustrated in FIG. 10 , the display screen Dp1 displayed on the display device 2 switches from the first camera screen Dp121 to the second camera screen Dp122 (arrow F4). Furthermore, if the push button switch 224 is pressed while the second camera screen Dp122 is being displayed, the display screen Dp1 displayed on the display device 2 switches from the second camera screen Dp122 to the first camera screen Dp121 (arrow F5).
  • the display screen Dp1 displayed on the display device 2 does not switch from the first camera screen Dp121. In other words, if the movement mode of the work machine 3 is in crane mode, only the first camera screen Dp121 is displayed as the camera screen Dp12.
  • the display screen Dp1 basically alternately switches between two screens of the first camera screen Dp121 and the second camera screen Dp122. Therefore, either the first camera screen Dp121, in which the captured images Im11, Im12, and Im13 are displayed in small size, or the second camera screen Dp122, in which the captured images Im11, Im12, and Im13 are displayed in large size, can be displayed on the display device 2.
  • the work machine information G4 When the movement mode of the work machine 3 is in the crane mode, as the camera screen Dp12, only the first camera screen Dp121 that includes the operating information such as the work machine information G4 is displayed, but not the second camera screen Dp122 that does not include the operating information such as the work machine information G4. Therefore, when the work machine 3 is in the crane mode and performing lifting work, the work machine information G4, such as the present load in the lifting work and the rated load, can be constantly displayed, which improves workability.
  • the display screen Dp1 automatically switches from the camera screen Dp12, which include the captured images Im11, Im12, and Im13, to the basic screen Dp11, which does not include the captured images Im11, Im12, and Im13.
  • the control method includes displaying the display screen Dp1 including information related to the work machine 3 on the display device 2, and switching, when the switching operation unit is operated, the display screen Dp1 to be displayed on the display device 2 among a plurality of screens according to a switching pattern.
  • the control method further includes changing the switching pattern according to a movement state of the work machine 3.
  • the "switching pattern" referred to in the present disclosure is a rule used in the switching process in response to the operation of the switching operation unit (push button switch 224), and includes a switching target, a switching destination, and a switching order (transition order) of the display screen Dp1.
  • the above-mentioned switching of the display screen Dp1 as illustrated in FIGS. 9 and 10 is achieved.
  • Such switching patterns are not invariant.
  • the switching patterns are changed according to the movement state of the work machine 3. For example, different switching patterns are applied when the cutoff lever 350 is in a state of being at the "raised position” (see FIG. 9 ) and when the cutoff lever 350 is in a state of being at the "lowered position” (see FIG. 10 ), so even if the switching operation unit (push button switch 224) is operated in the same way, the order in which the display screen Dp1 switches, or the like, is different. As a result, the order in which the display screen Dp1 switches, or the like, can be flexibly changed, which provides the advantage of improved operability, for example, the operator can reach the screen he or she wants to see relatively easily.
  • the movement state of the work machine 3 includes at least one of the following: the operation state of the cutoff lever 350 and whether or not the movement mode of the work machine 3 is the crane mode.
  • the movement state includes both the operation state of the cutoff lever 350 and whether or not the movement mode of the work machine 3 is the crane mode. Therefore, if the movement state, that is, either the operation state of the cutoff lever 350 ("raised position” or "lowered position") or whether or not the movement mode of the work machine 3 is the crane mode, changes, the switching pattern changes flexibly accordingly.
  • These movement states are different in degree of safety considerations required for the operation of the work machine 3. Therefore, the switching pattern is changed according to the operator's operation, which further improves operability.
  • the switching operation unit is a single operation switch (e.g., push button switch 224). This makes it easier for the operator to operate the switching operation unit than in a case where a plurality of operation switches are provided. Moreover, the switching pattern is changed according to the movement state of the work machine 3, which improves operability.
  • the change in the switching pattern also includes a change in the number of a plurality of screens to be switched.
  • the cutoff lever 350 when the cutoff lever 350 is in the "disabled state" of being at the "raised position", if the movement mode of the work machine 3 is a mode other than the crane mode, the display screen Dp1 switches among three screens in response to the operation of the switching operation unit. Meanwhile, when the cutoff lever 350 is in the "disabled state" of being at the "raised position", if the movement mode of the work machine 3 is in the crane mode, the display screen Dp1 alternately switches between two screens in response to the operation of the switching operation unit.
  • the number of screens to be switched according to the switching pattern more flexible switching of the display screen Dp1 can be achieved.
  • the change in the switching pattern includes a change in a screen that is a switching destination.
  • a change in a screen that is a switching destination For example, when the cutoff lever 350 is in the "disabled state" of being at the "raised position", if the movement mode of the work machine 3 is a mode other than the crane mode, the switching destination from the first camera screen Dp121 in response to the operation of the switching operation unit is the second camera screen Dp122. Meanwhile, when the cutoff lever 350 is in the "disabled state" of being at the "raised position", if the movement mode of the work machine 3 is in the crane mode, the switching destination from the first camera screen Dp121 in response to the operation of the switching operation unit is the basic screen Dp11.
  • the screen that is the switching destination according to the switching pattern more flexible switching of the display screen Dp1 can be achieved.
  • the plurality of screens to be switched include a single or a plurality of the camera screens Dp12 and the basic screen Dp11.
  • the single or the plurality of camera screens Dp12 are screens including the captured images Im11, Im12, and Im13 of the monitoring area A1 around the work machine 3.
  • the basic screen Dp11 is an image that does not include the captured images Im11, Im12, and Im13.
  • the "disabled state" where the cutoff lever 350 is at the "raised position" is an example of the "first state”.
  • the display screen Dp1 is switched among a plurality of screens, which include the plurality of camera screen Dp12 and the basic screen Dp11. Therefore, when the necessity to check the situation of the monitoring area A1 is low, for example, as in the "disabled state", the display screen Dp1 is switched to the basic screen Dp11, which does not include the captured images Im11, Im12, and Im13, so that necessary information can be displayed efficiently.
  • the plurality of screens to be switched each include the plurality of camera screens Dp12 including the captured images Im11, Im12, and Im13 of the monitoring area A1 around the work machine 3.
  • the "enabled state” where the cutoff lever 350 is at the "lowered position” is an example of the “second state”.
  • the display screen Dp1 is switched between the plurality of camera screens Dp12 (first camera screen Dp121 and second camera screen Dp122). Therefore, when the necessity to check the situation of the monitoring area A1, as in the "enabled state", the display screen Dp1 is switched to any camera screen Dp12 of the plurality of camera screens Dp12, so that necessary information can be displayed efficiently.
  • the plurality of camera screens Dp12 differ from each other in the display mode of the captured images Im11, Im12, and Im13.
  • the "display mode" referred to in the present disclosure includes (object) display color, size (including dimension, line thickness, etc.), shape, movement state (including animation, rotation/standstill, etc.) or display pattern (including blinking pattern, etc.), or a combination thereof.
  • the sizes (dimensions) of the captured images Im11, Im12, and Im13 are different in the plurality of camera screens Dp12, such as the first camera screen Dp121 and the second camera screen Dp122. Therefore, by switching the display screen Dp1 to the camera screen Dp12 with the appropriate display mode of the captured images Im11, Im12, and Im13 among the plurality of camera screens Dp12, the necessary information can be displayed efficiently.
  • the control method according to the present embodiment is used for the work machine 3 in which the enabled state where the control of the work machine 3 corresponding to the operation of the operation device 35 is enabled and the disabled state where the control of the work machine 3 corresponding to the operation of the operation device 35 is disabled switch according to the operation state of the disabling operation unit.
  • the control method includes displaying the display screen Dp1 including information related to the work machine 3 on the display device 2, and executing at least one of the first switching process and the second switching process.
  • the first switching process is a process in which, in accordance with switching from the enabled state to the disabled state, the display screen Dp1 to be displayed on the display device 2 is switched from the camera screen Dp12 to the basic screen Dp11.
  • the camera screen Dp12 is a screen including the captured images Im11, Im12, and Im13 of the monitoring area A1 around the work machine 3.
  • the basic screen Dp11 is a screen that does not include the captured images Im11, Im12, and Im13.
  • the second switching process is a process in which, in accordance with switching from the disabled state to the enabled state, the display screen Dp1 to be displayed on the display device 2 is switched from the basic screen Dp11 to the camera screen Dp12.
  • the display screen Dp1 is automatically switched when the disabling operation unit (cutoff lever 350) is operated to switch between the "enabled state” and “disabled state", regardless of the operation of the switching operation unit (push button switch 224).
  • the cutoff lever 350 is in a state of being at the "raised position” (see FIG. 9 )
  • the display screen Dp1 is switched from the basic screen Dp11 to the camera screen Dp12 by the second switching process (arrow F11).
  • the cutoff lever 350 is in a state of being at the "lowered position” (see FIG.
  • the display screen Dp1 is switched from the camera screen Dp12 to the basic screen Dp11 (arrows F12 and F13) by the first switching process.
  • the display screen Dp1 automatically switches in conjunction with the operation of the disabling operation unit (cutoff lever 350), which provides the advantage of improved operability, for example, the operator can reach the screen he or she wants to see relatively easily.
  • the camera screen Dp12 to be displayed on the display device 2 is one of a plurality of candidate screens, each of which includes the captured images Im11, Im12, and Im13.
  • the first camera screen Dp121 and the second camera screen Dp122 are examples of the plurality of candidate screens.
  • the camera screen Dp12 displayed on the display device 2 is not invariant, but is one candidate screen selected from the plurality of candidate screens, so that the camera screen Dp12 that is required at that time can be displayed.
  • the plurality of candidate screens include the first camera screen Dp121 that includes the operating information (remaining amount information G1, etc.) on the operating state of the work machine 3 in addition to the captured images Im11, Im12, and Im13, and the second camera screen Dp122 that does not include the operating information (remaining amount information G1, etc.). Therefore, the camera screen Dp12 that is automatically displayed by the second switching process can be appropriately selected from among the plurality of candidate images including the first camera screen Dp121 and the second camera screen Dp 122.
  • the monitoring processor 17 of the control system 1 monitors whether the cutoff lever 350 is in the "disabled state" of being at the "raised position” or whether the cutoff lever 350 is in the “enabled state” of being at the “lowered position” based on on/off of the cutoff switch 353 (S1). If the cutoff switch 353 is off, the monitoring processor 17 determines that the cutoff lever 350 is in the "disabled state” of being at the "raised position” (S1: Yes), and the control system 1 shifts the process to step S2. Meanwhile, if the cutoff switch 353 is on, the monitoring processor 17 determines that the cutoff lever 350 is in the "enabled state” of being at the "lowered position” (S1: No), and the control system 1 shifts the process to step S6.
  • step S2 the switching processor 13 of the control system 1 causes the display processor 11 to display the basic screen Dp11.
  • step S3 the switching processor 13 of the control system 1 monitors the operation state of the push button switch 224 (referred to as "camera button” in FIG. 11 ) serving as the switching operation unit. If the push button switch 224 is pressed (S3: Yes), the control system 1 shifts the process to step S4. Meanwhile, if the push button switch 224 is not pressed (S3: No), the control system 1 shifts the process to step S5.
  • the push button switch 224 referred to as "camera button” in FIG. 11
  • step S4 the switching processor 13 of the control system 1 switches the display screen Dp1 displayed on the display device 2 in the following order: the basic screen Dp11, the first camera screen Dp121, the second camera screen Dp122, and the basic screen Dp11.
  • the display screen Dp1 displayed on the display device 2 is switched in the order according to the switching pattern of arrows F1 to F3 illustrated in FIG. 9 each time the push button switch 224 is pressed (S3: Yes).
  • step S6 the switching processor 13 of the control system 1 causes the display processor 11 to display the first camera screen Dp121.
  • the switching processor 13 of the control system 1 monitors the operation state of the push button switch 224 serving as the switching operation unit. If the push button switch 224 is pressed (S7: Yes), the control system 1 shifts the process to step S8. Meanwhile, if the push button switch 224 is not pressed (S7: No), the control system 1 shifts the process to step S9.
  • step S8 the switching processor 13 of the control system 1 alternately switches the display screen Dp1 displayed on the display device 2 between the first camera screen Dp121 and the second camera screen Dp122. Thereby, the display screen Dp1 displayed on the display device 2 is switched in the order according to the switching pattern of arrows F4 and F5 illustrated in FIG. 10 each time the push button switch 224 is pressed (S7: Yes).
  • the control system 1 repeatedly executes the processes in step S1 to step S9 described above.
  • the flowchart illustrated in FIG. 11 is merely an example, and the processes may be added or omitted as appropriate, or the order of the processes may be swapped as appropriate.
  • the display mode of the captured images Im11, Im12, and Im13 on the camera screen Dp12 can be further changed by a specific operation of the switching operation unit.
  • the "specific operation” is, as an example, a predetermined operation on the push button switch 224 serving as the switching operation unit, including, for example, "long press”, in which the push button switch 224 is pressed and held for a predetermined time, and "two presses", in which the push button switch 224 is pressed twice in succession.
  • the second region R2 displays two screens, that is, among captured images Im11, Im12, and Im13 (see FIG. 6 ), the captured image Im12 captured by the right camera 342 and the captured image Im13 captured by the rear camera 343.
  • the captured images Im12 and Im13 are placed side by side in the left-right direction in the second region R2, and an icon Im10 is displayed below the captured images Im12 and Im13.
  • the icon Im10 schematically illustrates a positional relationship between the imaging ranges (small areas A12 and A13) of the right camera 342 and the rear camera 343 as seen from the machine body 30.
  • the display screen Dp1 is switched from the camera screen Dp12 to the basic screen Dp11 by the first switching process.
  • the display screen Dp1 is not immediately switched.
  • the display screen Dp1 is switched to the basic screen Dp11 by the first switching process that is accompanied by the cutoff lever 350 being operated to the "raised position".
  • the display screen Dp1 is switched from the basic screen Dp11 to the camera screen Dp12 by the second switching process.
  • the display screen Dp1 is not immediately switched. In this case, after the display of the different screen (menu screen Dp13) is finished, the display screen Dp1 is switched to the camera screen Dp12 by the second switching process that is accompanied by the cutoff lever 350 being operated to the "lowered position".
  • the display screen Dp1 switches in the order of the basic screen Dp11, the menu screen Dp13, and the first camera screen Dp121, as illustrated in FIG. 14 (arrows F9 and F10).
  • the display screen Dp1 is switched from the basic screen Dp11, via the different screen (herein, the menu screen Dp13), to the camera screen Dp12.
  • the power source of the work machine 3 is not limited to a diesel engine, but may be, for example, an engine other than the diesel engine, a motor (electric motor), or a hybrid power source that includes the engine and the motor (electric motor).
  • the function associated with the restraint process by the restraint processor 12 is not an essential function, and the restraint processor 12 can be omitted as appropriate.
  • the detector 15 can also be omitted. Even in the case that the detector 15 is omitted, the captured images Im11, Im12, and Im13 of the monitoring area A1 captured by the left camera 341, the right camera 342, and the rear camera 343 are displayed on the display screen Dp1 (camera screen Dp12).
  • the sensors for detecting the detection target Ob1 in the monitoring area A1 around the work machine 3 are not limited to the left camera 341, the right camera 342 and the rear camera 343, but may be one, two, or four or more cameras (image sensors).
  • a camera capable of capturing images in all directions seen from the work machine 3 such as an entire celestial sphere camera (360-degree camera), may be used to detect the detection target Ob1 in the monitoring area A1.
  • the sensors for detecting the detection target Ob1 in the monitoring area A1 may include, in addition to or instead of the cameras, for example, sensors, such as a motion sensor, a sonar sensor, a radar or Light Detection and Ranging (LiDAR).
  • LiDAR Light Detection and Ranging
  • the switching processor 13 of the control system 1 basically switches the display screen Dp1 in response to the operation of the cutoff lever 350 serving as the disabling operation unit.
  • arrows F21 to F24 shown by dashed-dotted lines, indicate the switching (transition) of the display screen Dp1 when the cutoff lever 350, which is an example of the disabling operation unit, is operated.
  • the cutoff lever 350 when the cutoff lever 350 is in the "disabled state" of being at the "raised position", if the cutoff lever 350 is operated to the "lowered position" while the basic screen Dp11 is being displayed, the display screen Dp1 displayed on the display device 2 is switched from the basic screen Dp11 to the camera screen Dp12 (arrows F21 and F22) by the second switching process.
  • the display screen Dp1 switches from the basic screen Dp11 to the first camera screen Dp121 (arrow F21).
  • the movement mode of the work machine 3 is in another mode other than the crane mode, such as the excavation mode, the display screen Dp1 switches from the basic screen Dp11 to the second camera screen Dp122 (arrow F22).
  • the display screen Dp1 is switched in response to the operation of the cutoff lever 350 serving as the disabling operation unit, even without the switching operation unit.
  • the display screen Dp1 automatically switches in conjunction with the operation of the disabling operation unit (cutoff lever 350), which provides the advantage of improved operability, for example, the operator can reach the screen he or she wants to see relatively easily.
  • the switching processor 13 is preferably configured to be capable of switching between the first camera screen Dp121 and the second camera screen Dp122. For example, when a predetermined switching condition is satisfied, the switching processor 13 switches the display screen Dp1 from the first camera screen Dp121 to the second camera screen Dp122, or from the second camera screen Dp122 to the first camera screen Dp121. As an example, when the switching condition, such as returning from the different screen such as the menu screen Dp13 (see FIG. 14 ), or operation of the work machine 3 is not performed for a certain time, is satisfied, the display screen Dp1 switches from the first camera screen Dp121 to the second camera screen Dp122 (arrow F31). Meanwhile, when the switching condition such as a specific operation is performed on the operation unit 22 or the like while the second camera screen Dp122 is displayed, the display screen Dp1 switches from the second camera screen Dp122 to the first camera screen Dp121 (arrow F32).
  • the switching condition such as a specific operation is performed on the operation unit 22 or the like while the second camera screen
  • the configuration of the second embodiment can be employed in combination with the various configurations (including the modifications) described in the first embodiment as necessary.
  • a work machine control method that is used for a work machine in which an enabled state, where control of the work machine corresponding to an operation of an operation device is enabled, and a disabled state, where the control of the work machine corresponding to the operation of the operation device is disabled, switch according to an operation state of a disabling operation unit, the work machine control method comprising: displaying, on a display device, a display screen including information related to the work machine; and executing at least one of a first switching process and a second switching process, in which the first switching process is a process in which the display screen to be displayed on the display device is switched, in accordance with switching from the enabled state to the disabled state, from a camera screen that includes a captured image of a monitoring area around the work machine to a basic screen that does not include the captured image, and the second switching process is a process in which the display screen to be displayed on the display device is switched, in accordance with switching from the disabled state to the enabled state, from the basic screen to the camera screen.
  • the work machine control method according to any one of Appendices 1 to 4, wherein the camera screen to be displayed on the display device is one candidate screen of a plurality of candidate screens, each of which includes the captured image.
  • the work machine control method according to Appendix 5 or 6, wherein the plurality of candidate screens include a first camera screen that includes, in addition to the captured image, operating information on an operating state of the work machine, and a second camera screen that does not include the operating information.
  • the work machine control method according to any one of Appendices 1 to 7, wherein the information related to the work machine includes at least one of a remaining amount of fuel, a cooling water temperature, and a hydraulic oil temperature.
  • a work machine control program that causes one or more processors to execute the work machine control method according to any one of Appendices 1 to 8.

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EP23176591.8A 2022-06-16 2023-06-01 Procédé de commande d'engin de chantier, programme de commande d'engin de chantier, système de commande d'engin de chantier et engin de chantier Pending EP4293164A1 (fr)

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JP2022097348A JP2023183699A (ja) 2022-06-16 2022-06-16 作業機械の制御方法、作業機械用制御プログラム、作業機械用制御システム及び作業機械

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US20230272599A1 (en) * 2022-02-28 2023-08-31 Caterpillar Inc. Work machine safety zone control

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Publication number Priority date Publication date Assignee Title
WO2015163381A1 (fr) 2014-04-25 2015-10-29 住友建機株式会社 Engin de chantier
EP3594416A1 (fr) * 2017-03-07 2020-01-15 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Pelleteuse
WO2022118945A1 (fr) * 2020-12-04 2022-06-09 ヤンマーホールディングス株式会社 Engin de chantier

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015163381A1 (fr) 2014-04-25 2015-10-29 住友建機株式会社 Engin de chantier
US20170028919A1 (en) * 2014-04-25 2017-02-02 Sumitomo(S.H.I.) Construction Machinery Co., Ltd. Construction machine
EP3594416A1 (fr) * 2017-03-07 2020-01-15 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Pelleteuse
WO2022118945A1 (fr) * 2020-12-04 2022-06-09 ヤンマーホールディングス株式会社 Engin de chantier

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